JPH06278584A - Collision preventive automatic brake control method and device for vehicle - Google Patents

Abstract

PURPOSE:To provide a system for monitoring the front and rear of a vehicle and activating according to the state around the vehicle. CONSTITUTION:A vehicle is provided with a collision preventive automatic brake control system 5 for a vehicle, which is equipped with a front laser radar device 1 at a front part of the vehicle for detecting the distance between a vehicle on which this system is carried and a vehicle or an obstacle ahead of the vehicle to automatically apply a brake when the distance becomes a preset value or less and another laser radar device for detecting the presence and absence of vehicles in the rear and the distance between the vehicle and a vehicle running in the same lane and monitoring the state of proximity to program control activating time and the strength of an automatic brake device for preventing collision against the front vehicle from behind.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle for automatically controlling the braking system of the vehicle while keeping the distance between the front and the rear at a safe distance to prevent collision of vehicles such as automobiles and trains. The present invention relates to a collision prevention automatic braking method and device.

[0002]

2. Description of the Related Art A conventional collision prevention automatic braking control method for a vehicle, which is a conventional example, is performed by an apparatus shown in FIG. In other words, in the device of the preceding example,
This is a method of performing automatic braking control for maintaining a safe inter-vehicle distance by combining an inter-vehicle distance monitoring device for detecting the inter-vehicle distance between the preceding vehicle and the host vehicle and an automatic braking device.

That is, the inter-vehicle distance monitoring device for the preceding vehicle includes a laser radar device 1, an inter-vehicle distance display device 2, a vehicle speed sensor 3 of the own vehicle, and an inter-vehicle distance calculation device 4 incorporated in the inter-vehicle distance display device. The automatic braking control device 5 configured to automatically control the accelerator device and the braking device based on the inter-vehicle distance information is provided. The braking device includes an automatic braking device 7 that controls the brake pedal device 6 and an automatic accelerator release device 9 that controls the accelerator pedal device 8. The respective devices described above are connected by the connection wiring 10. 11
Is an exhaust braking device (retarder), 12 is a power switch for automatic braking, 13 is an ignition switch, 14 is a retarder switch, 15 is a steering angle sensor that is rotated along with the rotation of the steering shaft, and 16 is an inter-vehicle distance. A buzzer for issuing an alarm when the value is within a set value, 17 is a throttle control drum, and 18 is an intake manifold.

When each device is activated while the vehicle equipped with the above-mentioned devices (apparatus) is running, the laser radar device 1 detects the inter-vehicle distance to the preceding vehicle ahead, and the inter-vehicle distance is detected. If the vehicle-to-vehicle distance is shortened to a set value or less on the basis of the signal, the automatic braking control device 5 and the automatic braking device of the own vehicle are driven to automatically brake the own vehicle to stop at low speed or stop. It is possible to prevent a collision with a vehicle ahead.

[0005]

However, in such a conventional vehicle collision prevention automatic braking control device, collision prevention is prevented for a preceding vehicle or an obstacle located in front of the host vehicle. Even if it is possible, there is no measure to prevent a rear-end collision with a following vehicle.

That is, when the vehicle is suddenly braked and the following vehicle is not braked in time, it may be collided with by the vehicle itself. In some cases, the vehicle may be pushed forward and the vehicle may collide with the vehicle in front even though the vehicle has been safely stopped by the automatic braking action. There is a problem that it is not possible to prevent a collision accident caused by a rear-end collision of a vehicle.

[0007]

SUMMARY OF THE INVENTION The present invention has been made by paying attention to such a conventional problem, and includes a front laser radar device for detecting a distance to a vehicle or an obstacle ahead. When the distance to the vehicle in front is equal to or less than the set value, the laser radar device is installed behind the vehicle equipped with a vehicle collision prevention automatic braking control device that automatically brakes, as in the front.
The timing of the automatic braking device to detect the presence of a vehicle behind the host vehicle, the distance between the vehicle and the following vehicle, or the approaching state of the vehicle behind, and to prevent a collision with the vehicle ahead. Another object of the present invention is to provide a vehicle collision-prevention automatic braking control method and device capable of effectively controlling a rear-end collision from a rear vehicle by program-controlling the strength of braking and braking.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on the embodiments shown in FIGS. 2 and 3. The same parts as the structure of this embodiment and the structure described in the conventional example are used in the conventional example. The same reference numerals are given and detailed description of the same structural parts is omitted.

In FIG. 2, 1 is a front laser radar device, 2 is a front inter-vehicle distance display device, 3 is a vehicle speed sensor of the own vehicle, 4 is a front inter-vehicle distance display device, and a inter-vehicle distance calculation device is shown. Is an automatic braking control device, 6 is a brake pedal device, 7 is an automatic braking device, 8 is an accelerator pedal device, 9 is an accelerator release device, 11 is an exhaust braking device, 1
2 is an automatic braking power switch, 13 is an ignition switch, 14 is a retarder switch, 15 is a steering angle sensor, 1
Reference numeral 6 is an alarm buzzer, 17 is a throttle control drum, and 18 is an intake manifold. The structure so far is basically the same as the automatic braking control device shown in the conventional example.

The features of this embodiment are that a rear laser radar device 20 for detecting the following distance between the host vehicle and a vehicle following the vehicle behind, and a following vehicle distance display for displaying the following distance between the subject vehicle and the following vehicle. A device 21 and an indicator 22 for notifying a following vehicle that the vehicle is in automatic braking operation,
That is, the rear inter-vehicle distance calculation device 23 incorporated in the rear inter-vehicle distance display device 21 is additionally provided.

The configuration of this embodiment has been described above. Next, its operation will be described.

The inter-vehicle distance between the preceding vehicle and the own vehicle is detected by the front laser radar device 1, the speed of the own vehicle is detected by the vehicle speed sensor 3, and the front inter-vehicle distance calculation device 4 detects the speed of the preceding vehicle. Calculate and calculate the safe inter-vehicle distance, compare it with the actual inter-vehicle distance, and if the inter-vehicle distance is dangerous, check if there is a following vehicle behind your vehicle or detect the inter-vehicle distance. It is performed by the laser radar device 20 and the rear-vehicle distance calculation device 23,
If there is no vehicle behind, or the following distance between
When it is determined that the vehicle is sufficiently wide for braking, the accelerator release device 9 is activated as a first step by a signal from the automatic braking control computing device 5, for example. Further, when there is a following traveling vehicle behind, the driver of the following vehicle behind is notified by lighting the display 22 that the own vehicle is decelerating to the following vehicle.

In the second step, if the inter-vehicle distance to the preceding vehicle is not widened and the safe inter-vehicle distance between the preceding vehicle and the host vehicle cannot be maintained even in the operation in the first step, an exhaust braking device (retarder brake) A signal is issued that activates 11 to brake. At this time as well, the accelerator release in the first stage is still maintained, and the following vehicle is warned by lighting the indicator 22 to indicate that the brake is in operation.

In the third stage, the front inter-vehicle distance computing device 4 determines that the preceding vehicle is a low-speed traveling vehicle. In addition to the control in the first and second stages, a signal for operating the automatic braking device 7 is issued. . With this output signal, for example, the deceleration is 0.3
The brake pedal device 6 is operated so as to attain G, and braking is performed to prevent a rear-end collision with a vehicle in front, and at the same time, the display 22
Lights up and warns the driver behind. In the fourth stage, braking is performed at 0.5 to 0.6 G, for example.

Further, when the following vehicle is approaching at an extremely narrow inter-vehicle distance, the inter-vehicle distance is displayed on the inter-vehicle distance display device 21 of the rear vehicle and an alarm is issued to the driver of the own vehicle. Thus, the driver can be warned not to perform the sudden braking operation. In this case, it is necessary to set the inter-vehicle distance to the vehicle in front longer than the normal safety inter-vehicle distance. The automatic braking control computing device 5 widens the inter-vehicle distance from the preceding vehicle based on the inter-vehicle distance from the rear inter-vehicle distance computing device 23 to the rear vehicle, and performs the braking operation at each stage.
In particular, the signal of the third stage and the signal of the fourth stage when a stopped vehicle is detected are affected by the inter-vehicle distance to the rear vehicle,
The vehicle starts operating at a safe inter-vehicle distance that allows it to stop without applying sudden braking. Since the display 22 is turned on early, the calculation algorithm of the automatic braking control device is created so that the own vehicle can prevent the rear vehicle from colliding with the own vehicle.

FIG. 3 shows another embodiment of the present invention. In the structure of this embodiment, a radio wave transmission device 25 having a directional antenna 24 is added to the structure of the above embodiment. It is a thing.

That is, in this embodiment, when the automatic braking control arithmetic processing unit 5 transmits a signal of automatic braking,
A radio wave transmission device 22 for notifying that braking has started is attached to a following vehicle behind by a directional antenna 24 provided at the rear of the vehicle.

Although there is a case where a vehicle behind does not have a device for receiving radio waves, a large transport truck is often equipped with a simple radio device or the like. Therefore, it is possible to use such a simple radio device or the like. The fact that the preceding vehicle is in the automatic braking operation can be received. As a result, the driver of the rear vehicle can be alerted to the safe driving by wireless means.

[0019]

As described above, the present invention provides a rear laser radar device and a rear inter-vehicle distance calculation device in a vehicle equipped with an automatic braking control device for preventing a rear-end collision or collision with a preceding vehicle. If possible, the presence or absence of the following vehicle behind and the following distance between the following vehicles are detected, and the following distance between the preceding vehicle, the following distance between the following following vehicles, and the state of the own vehicle speed are detected, and automatic braking starts This is an automatic collision prevention control method and device for a vehicle that controls the distance and conditions in several stages according to the strength of braking, and informs the following vehicle behind of the braking state of the preceding vehicle by signal lights. ,
According to this, it is possible to effectively prevent the own vehicle from colliding with the preceding vehicle and the following following vehicle from colliding with the own vehicle, and it is possible to perform automatic braking avoiding sudden braking.

At the same time when the various braking devices are activated, the following vehicle is informed that the own vehicle is too close to the preceding vehicle to start braking by using an alarm such as a signal light. The person operates the braking device earlier to widen the inter-vehicle distance to prevent a rear-end collision, which is effective for safe driving.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a conventional vehicle collision prevention automatic braking control device.

FIG. 2 is an explanatory diagram of a vehicle collision prevention automatic braking control device according to an embodiment of the present invention.

FIG. 3 is an explanatory diagram of a vehicle collision prevention automatic braking control device showing another embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Laser radar device 2 ... Inter-vehicle distance display device 3 ... Vehicle speed sensor 4 ... Inter-vehicle distance calculation device 5 ... Automatic braking control device 6 ... Brake pedal device 7 ... Automatic braking device 8 ... Accelerator pedal device 9 ... Automatic accelerator release device 10 ... Connection wiring 11 ... Exhaust braking device 12 ... Automatic braking power switch 13 ... Ignition switch 14 ... Retarder switch 15 ... Steering angle sensor 16 ... Warning buzzer 17 ... Throttle control drum 18 ... Intake manifold 20 ... Rear laser radar device 21 ... Rear Inter-vehicle distance display device 22 ... Display device 23 ... Rear inter-vehicle distance calculation device 24 ... Directional antenna 25 ... Radio wave transmission device

Claims (4)

[Claims] 1. An automatic braking actuating device for preventing a collision of an automobile or a railroad vehicle detects the inter-vehicle distances of a front preceding vehicle and a rear following vehicle, and the inter-vehicle distance between the preceding vehicle and the preceding vehicle is reduced. When the host vehicle automatically brakes when the danger of a collision approaches, the conditions for automatic braking of the host vehicle and the braking timing are controlled by relating the inter-vehicle distance to the rear vehicle so that the rear vehicle does not collide with the host vehicle. A collision-prevention automatic braking control method for a vehicle, which is characterized in that 2. A rear laser radar device and a rear inter-vehicle distance calculation for detecting an inter-vehicle distance of a following vehicle in a vehicle equipped with an automatic braking control device for preventing a rear-end collision or a collision with a preceding vehicle. A collision-prevention automatic braking control device for a vehicle, which is equipped with a device. 3. The vehicle collision prevention automatic braking control device according to claim 2, further comprising a lighting indicator for notifying a following vehicle that automatic braking has started. 4. The automatic collision control automatic braking system for vehicles according to claim 2 or 3, further comprising a transmission device for notifying a following vehicle of the start of automatic braking by a radio signal. Control device.